System and method for controlling earthmoving implement position on a work vehicle

ABSTRACT

A work vehicle includes an earthmoving implement configured to move material as the work vehicle travels across a surface within a work site. Additionally, the work vehicle includes a computing system configured to access a cut-fill map associated with the work site, with the cut-fill map depicting the material flow for transforming a current grade of the surface into a target grade of the surface. Moreover, the computing system is configured to determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map. In addition, the computing system is configured to control the operation of an actuator to adjust the position of the earthmoving implement relative to a work vehicle frame based on the determined at least one of the target grade or the direction of the material flow.

FIELD OF THE INVENTION

The present disclosure generally relates to work vehicles and, more particularly, to systems and methods for controlling earthmoving implement position on a work vehicle.

BACKGROUND OF THE INVENTION

Work vehicles, such as motor graders, are used in many aspects of road construction and maintenance. For example, motor graders can be used for moving material when shaping the surface of a road, such as from high spots to low spots. As such, a motor grader typically includes an earthmoving implement, such a moldboard or other blade. In this respect, as the motor grader travels across a surface, the earthmoving implement is configured to move a quantity of material, such as soil, gravel, and/or the like.

In general, during an earthmoving operation, it is necessary to adjust the position of the earthmoving implement. Such adjustments to earthmoving implement position the earthmoving implement such that material is moved in the desired manner. As such, systems for controlling the position of an earthmoving implement have been developed. While such systems work well, further improvements are needed.

Accordingly, an improved system and method for controlling earthmoving implement position on a work vehicle would be welcomed in the technology.

SUMMARY OF THE INVENTION

Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.

In one aspect, the present subject matter is directed to a work vehicle. The work vehicle includes a frame and an earthmoving implement supported on the frame, with the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site. Furthermore, the work vehicle includes an actuator configured to adjust a position of the earthmoving implement relative to the frame. Additionally, the work vehicle includes a computing system configured to access a cut-fill map associated with the work site, with the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface. Moreover, the computing system is configured to determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map. In addition, the computing system is configured to control an operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined at least one of the target grade or the direction of the material flow.

In another aspect, the present subject matter is directed to a system for controlling earthmoving implement position on a work vehicle. The system includes a work vehicle frame and an earthmoving implement supported on the work vehicle frame, with the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site. Furthermore, the system includes an actuator configured to adjust a position of the earthmoving implement relative to the work vehicle frame. Additionally, the system includes a computing system configured to access a cut-fill map associated with the work site, with the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface. Moreover, the computing system is configured to determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map. In addition, the computing system is configured to control an operation of the actuator to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined at least one of the target grade or the direction of the material flow.

In a further aspect, the present subject matter is directed to a method for controlling earthmoving implement position on a work vehicle. The work vehicle, in turn, includes a frame and an earthmoving implement supported on the frame, with the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site. The method includes accessing, with a computing system, a cut-fill map associated with the work site, with the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface. Furthermore, the method includes determining, with the computing system, at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map. Additionally, the method includes controlling, with the computing system, an operation of an actuator to adjust a position of the earthmoving implement relative to the frame based on the determined at least one of the target grade or the direction of the material flow.

These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:

FIG. 1 illustrates a side view of one embodiment of a work vehicle in accordance with aspects of the present subject matter;

FIG. 2 illustrates a top view of the work vehicle shown in FIG. 1 ;

FIG. 3 illustrates a schematic view of one embodiment of a system for controlling earthmoving implement position on a work vehicle in accordance with aspects of the present subject matter;

FIG. 4 illustrates a flow diagram providing one embodiment of control logic for controlling earthmoving implement position on a work vehicle in accordance with aspects of the present subject matter;

FIG. 5 illustrates a diagrammatic view of an earthmoving implement of a work vehicle when at a bulk work position in accordance with aspects of the present subject matter, particularly illustrating the pitch angle of the earthmoving implement when at the bulk work position;

FIG. 6 illustrates another diagrammatic view of the earthmoving implement of the work vehicle at the bulk work position, particularly illustrating the rotational angle of the earthmoving implement when at the bulk work position;

FIG. 7 illustrates a diagrammatic view of an earthmoving implement of a work vehicle when at a shaping work position in accordance with aspects of the present subject matter, particularly illustrating the pitch angle of the earthmoving implement when at the shaping work position;

FIG. 8 illustrates another diagrammatic view of the earthmoving implement of the work vehicle at the shaping work position, particularly illustrating the rotational angle of the earthmoving implement when at the shaping work position;

FIG. 9 illustrates a diagrammatic view of an earthmoving implement of a work vehicle when at a finish work position in accordance with aspects of the present subject matter, particularly illustrating the pitch angle of the earthmoving implement when at the finish work position;

FIG. 10 illustrates another diagrammatic view of the earthmoving implement of the work vehicle at the finish work position, particularly illustrating the rotational angle of the earthmoving implement when at the finish work position; and

FIG. 11 illustrates a flow diagram of one embodiment of a method for controlling earthmoving implement position on a work vehicle in accordance with aspects of the present subject matter.

Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.

DETAILED DESCRIPTION OF THE DRAWINGS

Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.

In general, the present subject matter is directed to a system and a method for controlling earthmoving implement position on a work vehicle. As will be described below, the work vehicle includes an earthmoving implement, such as a moldboard or other blade, supported on its frame. In this respect, as the work vehicle travels across a surface within a work site, the earthmoving implement is configured to move material (e.g., soil, gravel, etc.) relative to the surface. Additionally, the work vehicle includes one or more actuators configured to adjust the position of the earthmoving implement relative to the work vehicle frame. For example, the actuator(s) may adjust the pitch angle and/or the rotational angle of the earthmoving implement. In this respect, by adjusting the position of the earthmoving implement, the manner in which the implement moves material relative to the surface (e.g., whether the earthmoving implement carries material, spreads out material, etc.) can be adjusted.

The disclosed system and method control the position of the earthmoving implement relative to the work vehicle frame based on a cut-fill map associated with the work site. The cut-fill map, in turn, depicts the material flow for transforming a current grade of the surface into a target grade of the surface. Specifically, in several embodiments, a computing system of the disclosed system is configured to access the cut-fill map (e.g., from its memory). Furthermore, the computing system is configured to analyze the cut-fill map to determine the target grade of surface and/or the direction of the material flow for the surface. Thereafter, the computing system control an operation of the actuator(s) to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined target grade and/or the direction of the material flow. For example, in one embodiment, when the differential between current grade and the target grade exceeds a threshold value (e.g., six inches), the actuator(s) may move the earthmoving implement to a bulk work position. Conversely, the actuator(s) may move the earthmoving implement to a shaping work position or a finish work position when the differential falls below the threshold value.

Controlling the position of the earthmoving implement based on the target grade of and/or the direction of the material flow for a surface within a work site improves the operation of the work vehicle. Conventional systems for controlling earthmoving implement do not consider the position of the target grade of a surface or the desired direction of material flow when controlling blade position. In fact, many such systems largely rely on manual inputs from the work vehicle operator. However, by using the position of the target grade of the surface and/or the direction of material flow for the surface, the disclosed system and method allow the earthmoving implement to maintain a constant cutting depth when making each pass across the surface. This, in turn, the wheels of the work vehicle from slipping, thereby reducing wear on the work vehicle.

Referring now to the drawings, FIGS. 1 and 2 illustrate various views of one embodiment of a work vehicle 10. Specifically, FIG. 1 illustrates a side view of the work vehicle 10 and FIG. 2 illustrates a top view of the work vehicle 10. As shown, in the illustrated embodiment, the work vehicle 10 is configured as a motor grader. However, in alternative embodiments, the work vehicle 10 may be configured as any other suitable type of work vehicle, such as any suitable type of construction vehicle.

In general, the work vehicle 10 includes a frame 12 configured to support or couple to a plurality of components. Specifically, in several embodiments, the frame 12 may articulable. In such embodiments, the frame 12 includes a front frame portion 14 and a rear frame portion 16 pivotably coupled to the front frame portion 14 via an articulating joint 18. In this respect, the front frame portion 14 and the rear frame portion 16 may be configured to articulate or otherwise move relative to each other. Thus, the front frame portion 14 and the rear frame portion 16 can be oriented at various angular relationships relative to each other. For example, in some embodiments, one or more articulating adjustment actuators 20 may be supported on the frame 12 for adjusting the articulation of the work vehicle 10. Furthermore, as shown, a pair of non-driven, front wheels 21 may be coupled to the front frame portion 14. Moreover, the rear frame portion 16 may support an engine 22 configured to provide power for driving a tandem set of rear wheels 24 supporting the rear frame portion 14. Moreover, the rear frame portion 16 may support an operator's cab 26 configured to provide an operating environment for the operator.

Additionally, the work vehicle 10 includes an earthmoving implement 28 supported on the frame 12. In general, the earthmoving implement 28 is configured to move material as the work vehicle 10 moves in a direction of travel 27 across a surface within a work site. Specifically, in several embodiments, the earthmoving implement 28 may be supported on the front frame portion 14. In such embodiments, the earthmoving implement 28 may be coupled to a plate gear 30, which is coupled to a drawbar 32. The drawbar 32 is, in turn, supported on the front frame portion 14. In this respect, and as will be described below, the earthmoving implement 28 is moveable relative to the front frame portion 14. As such, by moving the earthmoving implement 28 relative to the front frame portion 14, the manner in which the earthmoving implement 28 moves material relative to the surface (e.g., carrying material, spreading material, etc.) can be adjusted. Furthermore, in the illustrated embodiment, the earthmoving implement 28 is configured as a moldboard. Thus, the earthmoving implement 28 may extend in a lengthwise direction between a first end 34 (FIG. 2 ) and a second end 36 (FIG. 2 ). However, in alternative embodiments, the earthmoving implement 28 may be configured as any other suitable type of implement, such as a blade. In addition, the earthmoving implement 28 may be coupled to the frame 12 in any other suitable manner.

It should be further appreciated that the configuration of the work vehicle described above and shown in FIGS. 1 and 2 is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of work vehicle configuration.

Furthermore, as shown in FIGS. 1 and 2 , the work vehicle 10 may include one or more actuators 102. In general, the actuator(s) 102 is configured to adjust the position of the earthmoving implement 28 relative to the frame 12. For example, in several embodiments, the actuator(s) 102 may include one or more pitch actuator(s) 104. The pitch actuator(s) 104 is, in turn, configured to rotate the earthmoving implement 28 about a pitch axis 106 (FIG. 1 ) to adjust a pitch angle (e.g., as indicated by arrow 108 in FIG. 1 ) of the earthmoving implement 28. As shown, the pitch angle 108 generally corresponds to the angle between the earthmoving implement 28 and surface across which the work vehicle 10 is traveling. Additionally, in several embodiments, the actuator(s) 102 may include one or more rotational actuator(s) 110. The rotational actuator(s) 110 is, in turn, configured to rotate the earthmoving implement 28 about a rotational axis 112 (FIG. 2 ) to adjust a rotational angle (e.g., as indicated by arrow 114 in FIG. 2 ) of the earthmoving implement 28. As shown, the rotational angle 114 generally corresponds to the angle between the earthmoving implement 28 and frame 12 or the direction of travel 27. However, in alternative embodiments, the actuator(s) 102 may include any other suitable actuator(s) in addition to or in lieu of the actuators 104, 110. In addition, the actuator(s) 102 may be configured to move the earthmoving implement 28 relative to the frame 12 in any other suitable manner.

Moreover, the actuator(s) 102 may correspond to any suitable device(s) configured to move the earthmoving implement 28 relative to the frame 12. For example, the actuator(s) 102 may be configured as fluid-driven cylinder, electric linear actuators, or the like.

Referring now to FIG. 3 , a schematic view of one embodiment of a system 100 for controlling earthmoving implement position on a work vehicle is illustrated in accordance with aspects of the present subject matter. In general, the system 100 will be described herein with reference to the work vehicle 10 described above with reference to FIGS. 1 and 2 . However, it should be appreciated by those of ordinary skill in the art that the disclosed system 100 may generally be utilized with work vehicles having any other suitable vehicle configuration.

As shown in FIG. 3 , the system 100 includes the actuator(s) 102, such as the pitch actuator(s) 104 and/or the rotational actuator(s) 110.

Furthermore, the system 100 may include one or more current grade sensors 116. In general, the current grade sensor(s) 116 generate data that is indicative of the position of the current grade of the surface within the work site across which the work vehicle 10 is traveling. Such data may, in turn, be used to update the position of the current grade of the surface as the work vehicle 10 makes successive passes across the surface. In this respect, the current grade sensor(s) 116 may correspond to any suitable sensing device(s) configured to generate data indicative of the position of the current grade of a surface within a work site. For example, the current grade sensor(s) 116 may be configured as a location sensor (e.g., a GNSS-based receiver), an imaging device (e.g., a camera, a LiDAR sensor, etc.), and/or the like.

Additionally, the system 100 may include one or more implement sensors 118. In general, the implement sensor(s) 118 generate data that is indicative of the position of the earthmoving implement 28 relative to the frame 12 of the work vehicle Such data may, in turn, be used when determining whether the position of the earthmoving implement 28 should be adjusted. In this respect, the implement sensor(s) 118 may correspond to any suitable sensing device(s) configured to generate data indicative of the position of the earthmoving implement 28 relative to the frame 12, such as one or more rotary potentiometers.

Moreover, the system 100 includes a computing system 120 communicatively coupled to one or more components of the work vehicle 10 and/or the system 100 to allow the operation of such components to be electronically or automatically controlled by the computing system 120. For instance, the computing system 120 may be communicatively coupled to the sensors 116, 118 via a communicative link 122. As such, the computing system 120 may be configured to receive data from the sensors 116, 118 that is indicative of various parameters associated with the operation of the work vehicle 10. Furthermore, the computing system 120 may be communicatively coupled to the actuator(s) 102, 104, 110 via the communicative link 122. In this respect, the computing system 120 may be configured to control the operation of the actuator(s) 102, 104, 110 to adjust the position of the earthmoving implement 28 relative to the frame 12. In addition, the computing system 120 may be communicatively coupled to any other suitable components of the work vehicle 10 and/or the system 100.

In general, the computing system 120 may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system 120 may include one or more processor(s) 124 and associated memory device(s) 126 configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 126 of the computing system 120 may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) 126 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 124, configure the computing system 120 to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system 120 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

The various functions of the computing system 120 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system 120. For instance, the functions of the computing system 120 may be distributed across multiple application-specific controllers or computing devices, such as one or more controllers or computing devices present on the work vehicle 10 (e.g., a navigation controller, an engine controller, a transmission controller, etc.) and/or one or more remote computing devices (e.g., a laptop computer, a tablet, a Smartphone, a cloud-based computing device, etc.).

Referring now to FIG. 4 , a flow diagram of one embodiment of control logic 200 that may be executed by the computing system 120 (or any other suitable computing system) for controlling earthmoving implement position on a work vehicle is illustrated in accordance with aspects of the present subject matter. Specifically, the control logic 200 shown in FIG. 4 is representative of steps of one embodiment of an algorithm that can be executed to control earthmoving implement position in a manner that allows the earthmoving implement to maintain a constant cutting depth when making each successive pass across the surface. Thus, in several embodiments, the control logic 200 may be advantageously utilized in association with a system installed on or forming part of a work vehicle to allow for real-time control of earthmoving implement position without requiring substantial computing resources and/or processing time. However, in other embodiments, the control logic 200 may be used in association with any other suitable system, application, and/or the like for controlling earthmoving implement position on a work vehicle.

As shown in FIG. 4 , at (202), the control logic 200 includes accessing a cut-fill map associated with q work site at which a work vehicle is to perform an earthmoving operation. Specifically, before the work vehicle 10 begins an earthmoving operation at a work site (e.g., when forming a roadbed), the computing system 120 is configured to access a cut-fill map for the work site. For example, in one embodiment, the computing system 120 may access the cut-fill map from its memory device(s) 126. Alternatively, the computing system 120 may access the cut-fill map from a remote database server or other remote computing device. As will be described below, the computing system 120 is configured to use the accessed cut-fill map to control the positioning of the earthmoving implement 28 during the earthmoving operation.

In general, the cut-fill map depicts the material flow needed to transform the current grade or position of one or more surfaces within the work site into a target grade of the surface(s). As such, in several embodiments, the cut-fill map may be a three-dimensional model or final build plan for the work site overlaid on a three-dimensional model of the initial or current topography of the work site. For example, in one embodiment, the cut-fill map may correspond to a heat map indicating high and low spots within the current topography of the work site relative to the final topography of the build site. Thus, the cut-fill map provides an indication of the current topography or grade of the work site, the target topography or grade of the work site, and the material flow necessary to transform the current topography or grade of the work site into the target topography or grade of the work site. However, in alternative embodiments, the cut-fill map may correspond to any other suitable data structure indicative of material flow and/or target grade.

Furthermore, at (204), the control logic 200 includes determining the current grade of a surface within the work site across which the work vehicle is traveling to perform the earthmoving operation based on the accessed cut-fill map. Specifically, in several embodiments, the computing system 120 is configured to analyze the cut-fill map accessed at (202) to determine the current grade of the surface within the work site across which the work vehicle 10 is currently traveling to perform the earthmoving operation (e.g., the current grade of a swath of the work site across which the work vehicle 10 is making a pass during a grading operation). As will be described below, the determined current grade may be used when controlling the position of the earthmoving implement 28 of the work vehicle 10 during the earthmoving operation.

Moreover, at (206), the control logic 200 includes determining the target grade of the surface within the work site across which the work vehicle is traveling based on the accessed cut-fill map. Specifically, in several embodiments, the computing system 120 is configured to analyze the cut-fill map accessed at (202) to determine the target grade of the surface within the work site across which the work vehicle 10 is currently traveling. As will be described below, the determined target grade may be used when controlling the position of the earthmoving implement 28 of the work vehicle 10 during the earthmoving operation.

In addition, at (208), the control logic 200 includes determining a differential between the current and target grades of the surface within the work site across which the work vehicle is traveling. Specifically, in several embodiments, the computing system 120 is configured to determine the differential between the current grade of the surface determined at (204) and the target grade of the surface determined at (206). As will be described below, the determined differential between the current and target grades may be used when controlling the position of the earthmoving implement 28 of the work vehicle 10 during the earthmoving operation.

As shown in FIG. 4 , at (210), the control logic 200 includes determining the presence of an obstacle within or adjacent to the surface across which the work vehicle is traveling based on the accessed cut-fill map. Specifically, in several embodiments, the computing system 120 is configured to analyze the cut-fill map accessed at (202) to determine whether any obstacles, such as curbs, are present within or adjacent to the surface across which the work vehicle 10 is currently traveling.

Furthermore, at (212), the control logic 200 includes determining the direction of the material flow for the surface based on the accessed cut-fill map. Specifically, in several embodiments, the computing system 120 is configured to analyze the cut-fill map accessed at (202) to determine a selected or desired direction of the material flow (e.g., of dirt, gravel, etc.) for the surface across which the work vehicle 10 is traveling. In one embodiment, the selected or desired direction of the material flow may be at least partially determined based on the presence of an obstacle(s). For example, in such an embodiment, when a curb is present adjacent to the surface across which the work vehicle 10 is making a pass, the determined direction of material flow may be away from the curb.

Additionally, at (214), the control logic 200 includes determining a selected position for the earthmoving implement of the work vehicle relative to a frame of the work vehicle based on the differential between the current and target grades and/or the direction of material flow. Specifically, in several embodiments, the computing system 120 may be configured to determine a selected position for the earthmoving implement 28 of the work vehicle 10 based on the differential between the current and target grades determined at (208) and/or the direction of material flow determined at (212). The selected position of the earthmoving implement 28 may be the pitch angle 108, the rotational angle 114, and/or any other suitable positional parameter of the earthmoving implement 28. As will be described below, when at the selected position determined at (214), the earthmoving implement 28 moves material relative to the surface across which the work vehicle 10 is traveling in the desired manner and while maintaining a constant cutting depth across each pass to prevent the wheels 21, 24 from slipping.

In some embodiments, when the differential exceeds a first threshold value (thereby indicating that the current grade is far from the target grade), the selected position of the earthmoving implement 28 may be a bulk work position. FIGS. 5 and 6 illustrate the earthmoving implement 28 when at the bulk work position, with dashed line 130 indicating a plane perpendicular to a surface 128 across which the work vehicle 10 is moving in the direction of travel 27. As shown in FIG. 5 , when at the bulk work position, the pitch angle 108 is obtuse such that the top edge of the earthmoving implement 28 is positioned aft of the bottom edge of the earthmoving implement 28. Furthermore, as shown in FIG. 6 , when at the bulk work position, the rotational angle 114 is generally a right angle such that earthmoving implement 28 is generally perpendicular to the frame 12 of the work vehicle 10 and the direction of travel 27. When at the bulk work position, the earthmoving implement 28 carries as much material as possible relative to the surface 128, such as to a low spot indicated in the accessed cut-fill map.

Additionally, in such embodiments, when the differential falls below the first threshold value but exceeds a second threshold value that is less than the first threshold value (thereby indicating that the current grade is a moderate distance from the target grade), the selected position of the earthmoving implement 28 may be a shaping work position. FIGS. 7 and 8 illustrate the earthmoving implement 28 when at the shaping work position. As shown in FIG. 7 , when at the shaping work position, the pitch angle 108 is a large acute angle such that the top edge of the earthmoving implement 28 is positioned slightly forward of the bottom edge of the earthmoving implement 28. Furthermore, as shown in FIG. 8 , when at the shaping work position, the rotational angle 114 is generally a large acute angle such that earthmoving implement 28 is oriented at an oblique angle relative to the frame 12 of the work vehicle 10 and the direction of travel 27. When at the shaping work position, the earthmoving implement 28 carries material relative to the surface 128 but allows some of the material to be pushed off to the side.

Moreover, in such embodiments, when the differential falls below the second threshold value (thereby indicating that the current grade is close to the target grade), the selected position of the earthmoving implement 28 may be a finish work position. FIGS. 9 and 10 illustrate the earthmoving implement 28 when at the finish work position. As shown in FIG. 9 , when at the finish work position, the pitch angle 108 is a small acute angle such that the top edge of the earthmoving implement 28 is positioned well forward of the bottom edge of the earthmoving implement 28. Thus, when at the finish work position, the earthmoving implement 28 is pitched more forward than when at the shaping position. Furthermore, as shown in FIG. 10 , when at the shaping work position, the rotational angle 114 is generally a small acute angle such that earthmoving implement 28 is oriented at an oblique angle relative to the frame 12 of the work vehicle 10 and the direction of travel 27. Thus, when at the finish work position, the earthmoving implement 28 is rotated more relative to the frame 12 and the direction of travel 27 than when at the shaping position. In this respect, when at the finish work position, the earthmoving implement 28 spreads material across the surface 128.

In addition, at mentioned above, the selected position for the earthmoving implement 28 may be determined based on the direction of material flow in addition to or lieu of the differential between the current and target grades. For example, when the current grade is getting close to the target grade, the rotational angle 114 of the earthmoving implement 28 may be such that material is directed in a selected direction, such as away from an identified curb or other obstacle.

Referring again to FIG. 4 , at (216), the control logic 200 includes determining the current position of the earthmoving implement. Specifically, as mentioned above, in several embodiments, the computing system 120 may be communicatively coupled to the implement sensor(s) 118 via the communicative link 122. In this respect, as the work vehicle 10 travels across the work site to perform the earthmoving operation, the computing system 120 may receive data from the implement sensor(s) 118. Based on the received data, the computing system 120 may determine the current position of the earthmoving implement 28 (e.g., its pitch and/or rotational angles 108, 114).

Furthermore, at (218), the control logic 200 includes comparing the current position of the earthmoving implement to the selected position for the earthmoving implement. Specifically, in several embodiments, the computing system 120 is configured to compare the current position of the earthmoving implement 28 determined at (216) to the selected position for the earthmoving implement 28 determined at (214). When the current position is the same as the selected position (or within a range around the selected position), there is no need to adjust the position of the earthmoving implement 28. In such instances, the control logic 200 returns to (204). Conversely, when the current position is the different than the selected position (or outside of the range around the selected position), there is a need to adjust the position of the earthmoving implement 28. In such instances, the control logic 200 proceeds to (220).

Additionally, at (220), the control logic 200 includes adjusting the position of the earthmoving implement relative to the frame of the work vehicle. Specifically, as mentioned above, in several embodiments, the computing system 120 may be communicatively coupled to the actuator(s) 102, 104, 110 via the communicative link 122. In this respect, when the current position is the different than the selected position (or outside of the range around the selected position), the computing system 120 may transmit control signals to the actuator(s) 102, 104, 110 via the communicative link 122. Such control signals, in turn, instruct the actuator(s) 102, 104, 110 to adjust the position of the earthmoving implement 28 relative to the frame 12 of the work vehicle 10 such that the earthmoving implement 28 is moved to the selected position determined at (214). Once at the selected position, the earthmoving implement 28 moves material relative to the surface across which the work vehicle 10 is traveling in the desired manner and while maintain a constant cutting depth across each pass to prevent the wheels 21, 24 from slipping.

At (220), any suitable adjustments to the position of the earthmoving implement 28 relative to the frame 12 may be initiated. For example, in one embodiment, the pitch angle 108 of the earthmoving implement 28 may be adjusted. Additionally, or alternatively, the rotational angle 114 of the earthmoving implement 28 may also be adjusted.

Moreover, in some embodiments, the accessed cut-fill map may be updated as successive passes are made across the surface of the work site. In general, with each successive pass across the work site, the current grade of the surface becomes closer to the target grade. In this respect, the computing system 120 may modify or update the cut-fill map accessed at (202) throughout the earthmoving operation to reflect changes in the current grade. For example, such modifications/updates made be made based on data received from the current grade sensor(s) 116.

Referring now to FIG. 11 , a flow diagram of one embodiment of a method 300 for controlling earthmoving implement position on a work vehicle is illustrated in accordance with aspects of the present subject matter. In general, the method 300 will be described herein with reference to the work vehicle 10 and the system 100 described above with reference to FIGS. 1-10 . However, it should be appreciated by those of ordinary skill in the art that the disclosed method 300 may generally be implemented with any work vehicle having any suitable vehicle configuration and/or within any system having any suitable system configuration. In addition, although FIG. 11 depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown in FIG. 11 , at (302), the method 300 includes accessing, with a computing system, a cut-fill map associated with a work site, the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface. For instance, as described above, the computing system 120 may be configured to access a cut-fill map associated with the work site at which the work vehicle 10 is to perform an earthmoving operation. The cut-fill map, in turn, depicts the material flow for transforming a current grade of a surface at the work site into a target grade of the surface.

Additionally, at (304), the method 300 includes determining, with the computing system, at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map. For instance, as described above, the computing system 120 may be configured to determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map.

Moreover, as shown in FIG. 11 , at (306), the method 300 includes controlling, with the computing system, the operation of an actuator to adjust the position of an earthmoving implement of a work vehicle relative to a frame of the work vehicle based on the determined at least one of the target grade or the direction of the material flow. For instance, as described above, the computing system 120 may be configured to control the operation of the actuator(s) 102, 104, 110 to adjust a position of the earthmoving implement 28 off the work vehicle 10 relative to the frame 12 of the work vehicle 10 based on the determined at least one of the target grade or the direction of the material flow.

It is to be understood that the steps of the control logic 200 and the method 300 are performed by the computing system 120 upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system 120 described herein, such as the control logic 200 and the method 300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system 120 loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system 120, the computing system 120 may perform any of the functionality of the computing system 120 described herein, including any steps of the control logic 200 and the method 300 described herein.

The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller.

This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims. 

1. A work vehicle, comprising: a frame; an earthmoving implement supported on the frame, the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site; an actuator configured to adjust a position of the earthmoving implement relative to the frame; and a computing system configured to: access a cut-fill map associated with the work site, the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface; determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map; and control an operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined at least one of the target grade or the direction of the material flow.
 2. The work vehicle of claim 1, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the target grade of the surface based on the accessed cut-fill map; and when controlling the operation of the actuator, the computing system is configured to control operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined target grade of the surface.
 3. The work vehicle of claim 1, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the direction of the material flow for the surface based on the accessed cut-fill map; and when controlling the operation of the actuator, the computing system is configured to control operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined direction of the material flow for the surface.
 4. The work vehicle of claim 1, wherein, when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine a presence of an obstacle within or adjacent to the surface across which the work vehicle is traveling.
 5. A system for controlling earthmoving implement position on a work vehicle, the system comprising: a work vehicle frame; an earthmoving implement supported on the work vehicle frame, the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site; an actuator configured to adjust a position of the earthmoving implement relative to the work vehicle frame; and a computing system configured to: access a cut-fill map associated with the work site, the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface; determine at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map; and control an operation of the actuator to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined at least one of the target grade or the direction of the material flow.
 6. The system of claim 5, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the target grade of the surface based on the accessed cut-fill map; and when controlling the operation of the actuator, the computing system is configured to control operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined target grade of the surface.
 7. The system of claim 5, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the direction of the material flow for the surface based on the accessed cut-fill map; and when controlling the operation of the actuator, the computing system is configured to control operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined direction of the material flow for the surface.
 8. The system of claim 5, wherein, when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine a presence of an obstacle within or adjacent to the surface across which the work vehicle is traveling.
 9. The system of claim 5, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the target grade of the surface based on the accessed cut-fill map; and the computing system is further configured to: determine a current grade of the surface based on the accessed cut-fill map; and determine a differential between the current grade of the surface and the target grade of the surface.
 10. The system of claim 9, wherein, when controlling the operation of the actuator, the computing system is configured to control the operation of the actuator to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined differential.
 11. The system of claim 5, wherein: when determining the at least one of the target grade or the direction of the material flow, the computing system is configured to determine the target grade of and the direction of the material flow for the surface based on the accessed cut-fill map; and when controlling the operation of the actuator, the computing system is configured to control the operation of the actuator to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined target grade and the determined direction of the material flow.
 12. The system of claim 5, wherein, when controlling the operation of the actuator, the computing system is configured to control the operation of the actuator to adjust a rotational angle of the earthmoving implement relative to the work vehicle frame based on the determined at least one of the target grade or the direction of the material flow.
 13. The system of claim 5, wherein, when controlling the operation of the actuator, the computing system is configured to control the operation of the actuator to adjust a pitch angle of the earthmoving implement relative to the work vehicle frame based on the determined at least one of the target grade or the direction of the material flow.
 14. The system of claim 5, wherein the earthmoving implement corresponds to a moldboard assembly.
 15. A method for controlling earthmoving implement position on a work vehicle, the work vehicle including a frame and an earthmoving implement supported on the frame, the earthmoving implement configured to move material as the work vehicle travels across a surface within a work site, the method comprising: accessing, with a computing system, a cut-fill map associated with the work site, the cut-fill map depicting a material flow for transforming a current grade of the surface into a target grade of the surface; determining, with the computing system, at least one of the target grade of or a direction of the material flow for the surface based on the accessed cut-fill map; and controlling, with the computing system, an operation of an actuator to adjust a position of the earthmoving implement relative to the frame based on the determined at least one of the target grade or the direction of the material flow.
 16. The method of claim 15, wherein: determining the at least one of the target grade or the direction of the material flow comprises determining, with the computing system, the target grade of the surface based on the accessed cut-fill map; and controlling the operation of the actuator comprises controlling, with the computing system, the operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined target grade of the surface.
 17. The method of claim 15, wherein: determining the at least one of the target grade or the direction of the material flow comprises determining, with the computing system, the direction of the material flow for the surface based on the accessed cut-fill map; and controlling the operation of the actuator comprises controlling, with the computing system, the operation of the actuator to adjust the position of the earthmoving implement relative to the frame based on the determined direction of the material flow for the surface.
 18. The method of claim 15, wherein determining the at least one of the target grade or the direction of the material flow comprises determining, with the computing system, a presence of an obstacle within or adjacent to the surface across which the work vehicle is traveling.
 19. The method of claim 15, wherein determining the at least one of the target grade or the direction of the material flow comprises determining, with the computing system, the target grade of the surface based on the accessed cut-fill map, the method further comprising: determining, with the computing system, a current grade of the surface based on the accessed cut-fill map; and determining, with the computing system, a differential between the current grade of the surface and the target grade of the surface.
 20. The method of claim 19, wherein controlling the operation of the actuator comprises controlling, with the computing system, the operation of the actuator to adjust the position of the earthmoving implement relative to the work vehicle frame based on the determined differential. 